/*
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

package ros.android.views;

import android.graphics.Bitmap;
import android.graphics.Canvas;
import android.graphics.Color;
import android.graphics.Matrix;
import android.graphics.Paint;

/**
 * PanZoomDisplay which shows a top view image of a robot in a PanZoomView.
 */
public class BitmapDisplay extends PosablePanZoomDisplay {
  private Bitmap bitmap;
  private Matrix bitmapRelPose = new Matrix();
  private Paint paint = new Paint();

  /**
   * Set the bitmap to draw in the PanZoomView.
   */
  public void setBitmap( Bitmap bitmap ) {
    this.bitmap = bitmap;
  }
  public Bitmap getBitmap() {
    return bitmap;
  }

  /**
   * Set the transform for the bitmap relative to the display pose.
   * The display pose frame translation is in meters, and the bitmap
   * draw frame is in pixels, so this transform needs to have a scale
   * set in meters per pixel.
   */
  public void setBitmapRelPose( Matrix bitmapRelPose ) {
    this.bitmapRelPose = bitmapRelPose;
  }
  public Matrix getBitmapRelPose() {
    return bitmapRelPose;
  }

  @Override
  public void drawAtPose( Canvas canvas ) {
    canvas.drawBitmap(bitmap, bitmapRelPose, paint);
  }
}
